version: 66.14
glider: 37
mission: 24
dive: 70
start: 8 21 119 12 28 7
data:
$ID,37
$MISSION,24
$DIVE,70
$N_DIVES,0
$STOP_T,8281919
$D_SURF,3
$D_FLARE,3
$D_TGT,5400
$D_ABORT,6050
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,3000
$T_MISSION,3300
$T_ABORT,3360
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-10
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,79116.297
$MASS_COMP,8995.7998
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3140
$TGT_DEFAULT_LON,-6410
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,136
$PITCH_MAX,3906
$C_PITCH,3143
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,14.89
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2230
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,100
$R_STBD_OVSHOOT,71
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,1786
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2.5
$VBD_BLEED_AD_RATE,3
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.550753
$PRESSURE_SLOPE,0
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,4500
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004395098
$SEABIRD_T_H,0.00063361513
$SEABIRD_T_I,2.5651329e-05
$SEABIRD_T_J,3.1717634e-06
$SEABIRD_C_G,-9.9017992
$SEABIRD_C_H,1.1589037
$SEABIRD_C_I,-0.0017859261
$SEABIRD_C_J,0.00021709637
$SEABIRD_C_Z,2927.29
$GPS1,210819,121404,3031.2026,-6900.2422,30,0.9,32,-13.1,0.2,88.5,9,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-69.6
$GPS2,210819,122728,3031.2075,-6900.2197,7,0.8,14,-13.1,0.0,217.1,10,4.8
$SPEED_LIMITS,0.104,0.192
$TGT_NAME,S
$TGT_LATLONG,3035.700,-6930.000
$TGT_RADIUS,20000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,307.5,48199,-13.1,-6.000,-17.33,3653
$D_GRID,5400
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
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$GC,742,-0.60,-146.6,2844,783,2374,2210,88.1,-9.1,72,752,0.35,2.17,0.00,0.000,3078,0.201,0.052,2941,2375,2292,2374,2210,0,0,0,0,0,0,25.84,26.69,25.99,8.83,20.62
$GC,1053,-0.41,-146.6,2940,2376,2374,2211,109.5,-7.5,103,1063,0.20,2.25,0.00,0.000,2564,0.184,0.057,3007,792,2292,2374,2211,0,0,0,0,0,0,26.23,26.41,26.32,8.81,21.60
$GC,1278,-0.28,-146.6,3007,792,2374,2212,125.6,-7.7,125,1283,0.17,2.12,0.00,0.000,3078,0.191,0.052,3053,2361,2293,2374,2212,0,0,0,0,0,0,26.20,26.76,26.39,8.80,21.68
$GC,1591,-0.23,-146.6,3053,2362,2374,2211,143.9,-5.4,156,1600,0.00,2.22,0.00,0.000,516,0.000,0.060,3053,799,2293,2374,2212,0,0,0,0,0,0,27.08,26.68,27.10,8.78,21.53
$GC,1694,-0.16,-146.6,3053,799,2374,2212,150.4,-6.4,166,1699,0.12,2.15,0.00,0.000,3078,0.186,0.052,3085,2354,2293,2374,2212,0,0,0,0,0,0,26.37,26.77,26.51,8.77,22.19
$GC,2018,-0.16,-146.6,3085,2354,2374,2212,167.9,-5.8,182,2022,0.00,2.20,0.00,0.000,260,0.000,0.067,3076,3895,2292,2374,2211,0,0,0,0,0,0,27.10,26.65,27.11,8.76,22.35
$GC,2061,-0.16,-146.6,3076,3895,2374,2211,170.9,-6.2,184,2066,0.00,2.10,0.00,0.000,1030,0.000,0.050,3076,2322,2292,2374,2211,0,0,0,0,0,0,26.89,26.86,26.90,8.77,22.94
$GC,2383,-0.16,-146.6,3075,2321,2374,2211,191.1,-6.1,200,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2322,2292,2374,2211,0,0,0,0,0,0,27.10,27.11,27.11,8.75,22.79
$GC,2683,-0.16,-146.6,3076,2321,2374,2211,210.2,-6.4,215,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2322,2292,2374,2211,0,0,0,0,0,0,27.10,27.12,27.12,8.74,23.06
$GC,2984,-0.16,-146.6,3076,2322,2374,2210,230.3,-6.8,230,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2322,2292,2374,2210,0,0,0,0,0,0,27.10,27.12,27.12,8.73,23.45
$GC,3283,-0.16,-146.6,3076,2321,2374,2210,250.9,-6.8,245,3288,0.00,2.10,0.00,0.000,516,0.000,0.060,3076,825,2292,2374,2210,0,0,0,0,0,0,27.10,26.71,27.11,8.73,24.20
$GC,3345,-0.16,-146.6,3076,825,2374,2210,255.2,-7.0,248,3350,0.00,2.10,0.00,0.000,1030,0.000,0.052,3066,2357,2291,2373,2210,0,0,0,0,0,0,26.84,26.79,26.86,8.72,23.53
$GC,3667,-0.16,-146.6,3065,2356,2374,2210,277.2,-7.1,264,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2356,2291,2373,2209,0,0,0,0,0,0,27.10,27.12,27.12,8.72,24.36
$GC,3967,-0.16,-146.6,3065,2357,2374,2209,297.1,-6.6,279,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2357,2291,2374,2209,0,0,0,0,0,0,27.10,27.12,27.12,8.72,24.60
$GC,4269,-0.16,-146.6,3065,2356,2374,2208,316.8,-6.5,290,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2357,2291,2374,2209,0,0,0,0,0,0,27.10,27.12,27.12,8.71,25.19
$GC,4567,-0.16,-146.6,3065,2357,2374,2208,336.5,-6.9,300,4574,0.00,2.20,0.00,0.000,516,0.000,0.060,3066,821,2290,2373,2208,0,0,0,0,0,0,27.10,26.71,27.12,8.71,24.83
$GC,4620,-0.16,-146.6,3065,821,2373,2208,338.5,-6.8,301,4628,0.10,2.10,0.00,0.000,3078,0.191,0.052,3088,2348,2290,2373,2208,0,0,0,0,0,0,26.46,26.80,26.59,8.71,24.28
$GC,4929,-0.16,-146.6,3087,2348,2373,2207,359.8,-6.3,312,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2348,2290,2374,2207,0,0,0,0,0,0,27.10,27.13,27.12,8.71,25.31
$GC,5227,-0.16,-146.6,3087,2348,2373,2206,379.0,-6.4,322,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2348,2289,2373,2206,0,0,0,0,0,0,27.11,27.13,27.12,8.71,25.03
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$GC,6128,-0.16,-146.6,3087,2348,2374,2202,428.0,-5.4,352,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2348,2288,2373,2203,0,0,0,0,0,0,27.11,27.13,27.12,8.69,26.01
$GC,6429,-0.21,-146.6,3087,2348,2373,2203,443.6,-5.2,362,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2348,2287,2373,2202,0,0,0,0,0,0,27.11,27.13,27.13,8.69,26.01
$GC,6728,-0.26,-146.6,3087,2348,2373,2202,459.2,-5.3,372,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2348,2287,2373,2202,0,0,0,0,0,0,27.11,27.13,27.12,8.68,26.01
$GC,7028,-0.32,-146.6,3087,2348,2372,2203,476.3,-6.0,382,7035,0.10,2.20,0.00,0.000,4612,0.149,0.060,3038,818,2287,2372,2202,0,0,0,0,0,0,26.75,26.71,26.79,8.68,26.49
$GC,7081,-0.32,-146.6,3037,818,2371,2202,478.5,-6.3,383,7088,0.00,2.12,0.00,0.000,1030,0.000,0.052,3030,2360,2286,2371,2202,0,0,0,0,0,0,26.86,26.80,26.87,8.69,26.64
$GC,7390,-0.32,-146.6,3029,2360,2371,2202,506.2,-8.4,394,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2360,2286,2371,2202,0,0,0,0,0,0,27.11,27.13,27.13,8.68,26.21
$GC,7688,-0.32,-146.6,3029,2360,2371,2202,530.9,-8.3,404,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2360,2286,2371,2202,0,0,0,0,0,0,27.11,27.13,27.12,8.68,27.16
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$GC,8378,-0.32,-146.6,3019,2350,2370,2201,585.8,-8.1,427,8380,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2350,2286,2371,2201,0,0,0,0,0,0,27.11,27.13,27.13,8.66,27.43
$GC,8678,-0.32,-146.6,3019,2350,2370,2200,609.6,-8.1,437,8685,0.00,2.22,0.00,0.000,260,0.000,0.067,3007,3897,2285,2370,2200,0,0,0,0,0,0,27.11,26.68,27.13,8.65,28.57
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$GC,9092,-0.32,-146.6,3038,815,2369,2200,641.0,-7.8,450,9100,0.00,2.12,0.00,0.000,1030,0.000,0.052,3031,2356,2284,2369,2200,0,0,0,0,0,0,26.85,26.79,26.87,8.64,28.46
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$GC,10068,-0.32,-146.6,3030,811,2366,2197,716.3,-7.1,483,10072,0.00,2.12,0.00,0.000,1030,0.000,0.052,3020,2356,2282,2366,2198,0,0,0,0,0,0,26.85,26.79,26.87,8.61,30.46
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$GC,10432,-0.32,-146.6,3008,3891,2367,2197,743.4,-7.7,495,10438,0.10,2.08,0.00,0.000,3078,0.204,0.052,3039,2354,2281,2366,2197,0,0,0,0,0,0,26.45,26.86,26.60,8.60,30.74
$GC,10751,-0.32,-146.6,3038,2354,2366,2196,767.3,-7.3,506,10756,0.00,2.17,0.00,0.000,516,0.000,0.060,3039,822,2281,2366,2196,0,0,0,0,0,0,27.11,26.71,27.13,8.58,30.66
$GC,10803,-0.32,-146.6,3038,821,2365,2196,769.7,-7.4,507,10811,0.00,2.12,0.00,0.000,1030,0.000,0.055,3031,2347,2281,2366,2197,0,0,0,0,0,0,26.85,26.79,26.86,8.58,30.90
$GC,11112,-0.32,-146.6,3030,2347,2365,2195,795.1,-7.6,518,11118,0.00,2.25,0.00,0.000,260,0.000,0.067,3019,3902,2280,2365,2195,0,0,0,0,0,0,27.11,26.67,27.13,8.57,31.65
$GC,11154,-0.32,-146.6,3018,3902,2365,2194,797.4,-7.7,519,11158,0.00,2.10,0.00,0.000,1030,0.000,0.052,3019,2359,2279,2365,2194,0,0,0,0,0,0,26.89,26.86,26.91,8.57,31.96
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$GC,67449,-1.43,-146.6,2654,2350,2331,2162,4593.3,-5.5,1498,67450,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2350,2246,2331,2162,0,0,0,0,0,0,27.05,27.07,27.07,8.24,33.30
$GC,67748,-1.43,-146.6,2653,2350,2331,2162,4609.4,-5.4,1503,67749,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2350,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.24,33.73
$GC,68048,-1.43,-146.6,2653,2350,2330,2162,4625.4,-5.4,1508,68052,0.00,2.42,0.00,0.000,516,0.000,0.070,2654,778,2246,2331,2162,0,0,0,0,0,0,27.05,25.90,27.07,8.24,33.50
$GC,68128,-1.43,-146.6,2654,778,2331,2162,4629.0,-5.4,1509,68133,0.15,2.35,0.00,0.000,3078,0.266,0.062,2679,2358,2247,2331,2163,0,0,0,0,0,0,25.15,26.18,25.33,8.24,32.94
$GC,68472,-1.43,-146.6,2678,2358,2331,2162,4645.6,-4.5,1515,68473,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2358,2246,2331,2162,0,0,0,0,0,0,27.05,27.07,27.06,8.25,33.18
$GC,68771,-1.43,-146.6,2678,2358,2331,2162,4659.3,-4.5,1520,68772,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2358,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.24,32.94
$GC,69071,-1.43,-146.6,2678,2358,2331,2162,4672.6,-4.4,1525,69077,0.00,2.45,0.00,0.000,516,0.000,0.072,2679,778,2247,2331,2163,0,0,0,0,0,0,27.05,25.90,27.07,8.24,33.57
$GC,69153,-1.43,-146.6,2678,778,2331,2162,4675.6,-4.5,1526,69158,0.00,2.33,0.00,0.000,1030,0.000,0.060,2671,2357,2246,2331,2162,0,0,0,0,0,0,26.28,26.19,26.32,8.24,32.55
$GC,69492,-1.43,-146.6,2670,2357,2331,2162,4692.1,-4.5,1532,69493,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2357,2246,2331,2162,0,0,0,0,0,0,27.05,27.07,27.07,8.24,33.18
$GC,69791,-1.43,-146.6,2670,2357,2331,2162,4705.5,-4.5,1537,69797,0.00,2.45,0.00,0.000,516,0.000,0.070,2671,769,2246,2331,2162,0,0,0,0,0,0,27.05,25.89,27.07,8.24,33.14
$GC,69853,-1.43,-146.6,2670,769,2331,2162,4708.5,-4.5,1538,69858,0.00,2.38,0.00,0.000,1030,0.000,0.062,2660,2347,2246,2331,2162,0,0,0,0,0,0,26.23,26.18,26.26,8.24,33.57
$GC,70211,-1.43,-146.6,2659,2348,2331,2162,4725.1,-4.6,1544,70212,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2348,2247,2332,2162,0,0,0,0,0,0,27.05,27.07,27.06,8.24,33.10
$GC,70511,-1.43,-146.6,2659,2348,2331,2162,4738.8,-4.5,1549,70518,0.00,2.42,0.00,0.000,516,0.000,0.070,2660,781,2246,2331,2162,0,0,0,0,0,0,27.05,25.90,27.07,8.24,33.38
$GC,70586,-1.43,-146.6,2659,781,2331,2162,4741.7,-4.6,1550,70591,0.12,2.35,0.00,0.000,3078,0.271,0.062,2678,2361,2247,2331,2163,0,0,0,0,0,0,25.30,26.17,25.46,8.25,33.61
$GC,70944,-1.43,-146.6,2678,2361,2331,2162,4757.3,-4.1,1556,70945,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2361,2246,2330,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.24,33.38
$GC,71245,-1.43,-146.6,2678,2361,2331,2162,4769.3,-4.0,1561,71246,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2361,2246,2331,2162,0,0,0,0,0,0,27.05,27.07,27.06,8.24,33.10
$GC,71556,-1.43,-146.6,2678,2361,2331,2162,4782.0,-4.2,1566,71558,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2361,2246,2331,2162,0,0,0,0,0,0,27.01,27.03,27.03,8.24,33.54
$GC,71844,-1.43,-146.6,2678,2361,2331,2162,4795.2,-4.4,1571,71845,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2361,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.24,33.06
$GC,72144,-1.43,-146.6,2678,2361,2331,2162,4808.2,-4.3,1576,72145,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2361,2246,2331,2162,0,0,0,0,0,0,27.05,27.07,27.08,8.24,33.30
$GC,72457,-1.43,-146.6,2678,2361,2331,2162,4820.7,-4.2,1581,72458,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2361,2246,2331,2162,0,0,0,0,0,0,27.02,27.04,27.03,8.25,33.34
$GC,72744,-1.43,-146.6,2678,2361,2331,2162,4832.8,-4.1,1586,72745,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2361,2246,2331,2162,0,0,0,0,0,0,27.05,27.07,27.07,8.25,33.85
$GC,73044,-1.43,-146.6,2678,2360,2331,2163,4845.1,-4.1,1591,73045,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2361,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.25,33.22
$GC,73346,-1.43,-146.6,2678,2361,2331,2162,4856.9,-4.0,1596,73347,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2361,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.25,33.65
$GC,73645,-1.43,-146.6,2678,2361,2331,2162,4868.5,-3.9,1601,73651,0.00,2.42,0.00,0.000,516,0.000,0.070,2678,784,2246,2331,2162,0,0,0,0,0,0,27.05,25.89,27.07,8.25,33.14
$GC,73717,-1.43,-146.6,2678,784,2331,2162,4871.1,-4.0,1602,73722,0.00,2.33,0.00,0.000,1030,0.000,0.062,2670,2351,2246,2330,2162,0,0,0,0,0,0,26.28,26.18,26.32,8.24,33.34
$GC,74066,-1.43,-146.6,2670,2351,2332,2162,4885.3,-3.9,1608,74067,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2351,2246,2331,2162,0,0,0,0,0,0,27.05,27.07,27.07,8.24,33.42
$GC,74365,-1.43,-146.6,2670,2351,2331,2162,4897.5,-4.0,1613,74366,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2351,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.24,33.18
$GC,74665,-1.43,-146.6,2670,2351,2331,2162,4909.2,-3.9,1618,74666,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2351,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.25,33.65
$GC,74978,-1.43,-146.6,2670,2351,2331,2162,4920.6,-3.8,1623,74979,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2351,2246,2331,2162,0,0,0,0,0,0,27.03,27.04,27.04,8.25,33.89
$GC,75265,-1.43,-146.6,2670,2351,2331,2162,4932.1,-3.8,1628,75266,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2351,2247,2331,2163,0,0,0,0,0,0,27.05,27.08,27.07,8.25,33.57
$GC,75565,-1.43,-146.6,2670,2351,2331,2162,4943.0,-3.7,1633,75571,0.00,2.45,0.00,0.000,516,0.000,0.070,2671,775,2246,2331,2162,0,0,0,0,0,0,27.05,25.88,27.07,8.25,32.71
$GC,75633,-1.43,-146.6,2670,775,2331,2163,4945.5,-3.8,1634,75637,0.00,2.33,0.00,0.000,1030,0.000,0.060,2659,2350,2246,2331,2162,0,0,0,0,0,0,26.27,26.17,26.31,8.23,33.10
$GC,75985,-1.43,-146.6,2659,2351,2331,2162,4959.3,-3.9,1640,75986,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2351,2246,2331,2162,0,0,0,0,0,0,27.05,27.07,27.07,8.25,32.55
$GC,76285,-1.43,-146.6,2659,2351,2331,2162,4970.7,-3.8,1645,76287,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2351,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.25,32.79
$GC,76597,-1.43,-146.6,2659,2352,2331,2162,4982.0,-3.8,1650,76598,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2351,2246,2331,2162,0,0,0,0,0,0,27.02,27.04,27.03,8.25,32.98
$GC,76885,-1.43,-146.6,2659,2351,2331,2162,4992.9,-3.6,1655,76886,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2351,2247,2331,2163,0,0,0,0,0,0,27.05,27.08,27.07,8.25,33.46
$GC,77185,-1.43,-146.6,2659,2351,2331,2162,5003.6,-3.6,1660,77186,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2351,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.25,33.06
$GC,77485,-1.43,-146.6,2659,2351,2330,2162,5014.3,-3.5,1665,77486,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2351,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.25,33.14
$GC,77785,-1.43,-146.6,2659,2351,2331,2163,5024.7,-3.5,1670,77786,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2351,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.25,33.42
$GC,78085,-1.43,-146.6,2659,2351,2331,2162,5034.8,-3.4,1675,78086,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2351,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.25,33.18
$GC,78385,-1.43,-146.6,2659,2351,2331,2162,5044.9,-3.3,1680,78386,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2352,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.25,32.83
$GC,78685,-1.43,-146.6,2659,2351,2331,2162,5055.1,-3.4,1685,78687,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2351,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.25,33.18
$GC,78985,-1.43,-146.6,2659,2352,2331,2162,5065.3,-3.4,1690,78991,0.00,2.45,0.00,0.000,516,0.000,0.072,2660,777,2246,2331,2162,0,0,0,0,0,0,27.05,25.87,27.07,8.25,33.81
$GC,79058,-1.43,-146.6,2659,776,2331,2162,5067.6,-3.4,1691,79063,0.12,2.35,0.00,0.000,3078,0.266,0.062,2679,2356,2247,2331,2163,0,0,0,0,0,0,25.31,26.17,25.46,8.25,33.65
$GC,79402,-1.49,-146.6,2678,2356,2331,2163,5078.4,-2.9,1697,79403,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2357,2246,2331,2162,0,0,0,0,0,0,27.05,27.07,27.06,8.25,33.73
$GC,79702,-1.55,-146.6,2678,2356,2331,2162,5087.2,-2.9,1702,79703,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2356,2247,2331,2163,0,0,0,0,0,0,27.05,27.07,27.07,8.25,33.22
$GC,80002,-1.61,-146.6,2678,2356,2331,2162,5095.7,-2.8,1707,80004,0.12,0.00,0.00,0.000,4102,0.241,0.000,2644,2357,2246,2331,2162,0,0,0,0,0,0,26.07,26.20,26.14,8.25,33.42
$GC,80302,-1.61,-146.6,2644,2357,2331,2163,5105.7,-3.4,1712,80303,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2357,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.25,33.10
$GC,80603,-1.61,-146.6,2644,2357,2331,2162,5115.7,-3.3,1717,80609,0.00,2.42,0.00,0.000,516,0.000,0.072,2644,781,2246,2331,2162,0,0,0,0,0,0,27.05,25.86,27.07,8.25,33.42
$GC,80675,-1.61,-146.6,2644,780,2331,2163,5118.0,-3.4,1718,80679,0.00,2.35,0.00,0.000,1030,0.000,0.062,2634,2360,2246,2331,2162,0,0,0,0,0,0,26.27,26.17,26.30,8.25,33.02
$GC,81018,-1.61,-146.6,2633,2360,2331,2162,5129.9,-3.4,1724,81019,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2360,2246,2331,2162,0,0,0,0,0,0,27.05,27.07,27.07,8.26,32.67
$GC,81317,-1.61,-146.6,2633,2360,2331,2162,5139.5,-3.2,1729,81318,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2360,2247,2332,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.25,32.98
$GC,81617,-1.61,-146.6,2633,2360,2331,2162,5149.3,-3.2,1734,81618,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2360,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.25,32.98
$GC,81918,-1.61,-146.6,2632,2361,2331,2162,5158.8,-3.2,1739,81924,0.00,2.42,0.00,0.000,516,0.000,0.070,2634,786,2246,2330,2162,0,0,0,0,0,0,27.05,25.86,27.07,8.25,32.79
$GC,82009,-1.61,-146.6,2633,786,2331,2162,5161.0,-3.2,1740,82015,0.00,2.33,0.00,0.000,1030,0.000,0.060,2623,2351,2247,2332,2163,0,0,0,0,0,0,26.27,26.17,26.30,8.25,33.50
$GC,82350,-1.61,-146.6,2623,2351,2331,2162,5173.6,-3.4,1746,82351,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2352,2246,2331,2162,0,0,0,0,0,0,27.05,27.07,27.07,8.25,32.59
$GC,82650,-1.61,-146.6,2623,2351,2331,2162,5183.6,-3.3,1751,82651,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2351,2247,2331,2163,0,0,0,0,0,0,27.05,27.07,27.07,8.25,33.18
$GC,82950,-1.61,-146.6,2623,2351,2331,2162,5193.7,-3.3,1756,82951,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2351,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.26,32.98
$GC,83250,-1.61,-146.6,2622,2351,2330,2162,5203.4,-3.3,1761,83251,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2352,2246,2331,2162,0,0,0,0,0,0,27.05,27.07,27.07,8.26,32.91
$GC,83550,-1.61,-146.6,2622,2351,2331,2162,5212.8,-3.1,1766,83556,0.00,2.42,0.00,0.000,516,0.000,0.070,2623,785,2246,2331,2162,0,0,0,0,0,0,27.05,25.86,27.07,8.25,32.71
$GC,83633,-1.61,-146.6,2622,785,2331,2163,5214.9,-3.2,1767,83637,0.00,2.35,0.00,0.000,1030,0.000,0.060,2613,2366,2246,2331,2162,0,0,0,0,0,0,26.26,26.17,26.29,8.25,33.57
$GC,83965,-1.61,-146.6,2612,2366,2331,2162,5226.9,-3.4,1773,83966,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2366,2246,2331,2162,0,0,0,0,0,0,27.05,27.08,27.07,8.25,33.50
$STATE,84204,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,84204,begin apogee
$GC,84210,-0.67,0.0,2612,2214,2331,2162,5234.9,-3.4,1777,84387,1.12,0.00,173.27,4.251,10246,0.206,0.000,2920,2215,1785,1873,1698,0,0,0,0,0,0,24.09,21.76,19.15,8.25,32.79
$STATE,84388,end apogee,CONTROL_FINISHED_OK
$STATE,84388,begin climb
$GC,84390,0.92,146.6,2920,2214,1873,1699,5232.2,0.0,1780,84580,1.80,0.00,185.30,4.258,10246,0.156,0.000,3436,2214,1281,1377,1185,0,0,0,0,0,0,22.58,21.87,19.50,8.23,33.54
$GC,84865,0.51,146.6,3435,2214,1377,1184,5120.1,26.8,1788,84872,0.57,2.40,0.00,0.000,4612,0.323,0.070,3324,677,1280,1376,1185,0,0,0,0,0,0,25.39,25.77,25.62,8.19,32.83
$GC,84954,0.12,146.6,3323,677,1376,1184,5106.6,25.8,1789,84962,0.57,2.35,0.00,0.000,5126,0.295,0.062,3191,2241,1280,1376,1184,0,0,0,0,0,0,25.60,26.13,25.95,8.19,32.98
$GC,85285,-0.03,146.6,3191,2241,1376,1184,5050.1,14.8,1795,85287,0.17,0.00,0.00,0.000,4102,0.320,0.000,3154,2241,1280,1376,1184,0,0,0,0,0,0,25.81,26.31,26.18,8.19,32.24
$GC,85585,-0.12,146.6,3154,2242,1376,1184,5012.1,12.5,1800,85587,0.12,0.00,0.00,0.000,4102,0.318,0.000,3126,2242,1280,1376,1184,0,0,0,0,0,0,25.96,26.40,26.28,8.18,32.67
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$GC,161186,1.08,305.9,3514,2189,839,634,414.5,10.1,3191,161190,0.00,2.17,0.00,0.000,516,0.000,0.065,3526,685,737,839,635,0,0,0,0,0,0,27.08,26.50,27.08,8.40,25.74
$GC,161231,1.08,305.9,3526,684,839,636,411.1,10.1,3192,161236,0.12,2.17,0.00,0.000,5126,0.209,0.055,3491,2240,736,838,635,0,0,0,0,0,0,26.10,26.66,26.26,8.41,25.82
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$GC,161899,1.08,305.9,3499,2230,839,636,347.2,9.3,3214,161904,0.00,2.22,0.00,0.000,516,0.000,0.062,3510,687,737,838,637,0,0,0,0,0,0,27.08,26.52,27.09,8.43,25.82
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$GC,162260,1.08,305.9,3510,2229,839,637,312.0,9.7,3226,162265,0.00,2.28,0.00,0.000,260,0.000,0.067,3510,3782,737,839,636,0,0,0,0,0,0,27.08,26.50,27.09,8.44,25.78
$GC,162310,1.08,305.9,3510,3782,839,637,308.5,9.7,3227,162314,0.00,2.17,0.00,0.000,1030,0.000,0.050,3520,2228,737,838,637,0,0,0,0,0,0,26.79,26.73,26.80,8.44,25.19
$GC,162622,1.08,305.9,3519,2205,839,638,273.9,10.4,3242,162623,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2205,738,838,638,0,0,0,0,0,0,27.08,27.10,27.09,8.46,25.15
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$GC,163272,1.08,305.9,3519,3781,839,639,212.0,9.7,3274,163277,0.12,2.17,0.00,0.000,5126,0.199,0.050,3492,2198,738,839,638,0,0,0,0,0,0,26.22,26.74,26.36,8.47,24.91
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$GC,164182,1.14,305.9,3492,2198,838,627,137.6,8.3,3326,164192,0.00,2.17,0.00,0.000,516,0.000,0.065,3501,686,733,838,628,0,0,0,0,0,0,27.06,26.55,27.08,8.50,24.56
$GC,164227,1.19,305.9,3500,686,838,628,133.9,8.1,3330,164236,0.00,2.15,0.00,0.000,1030,0.000,0.052,3501,2245,733,839,628,0,0,0,0,0,0,26.76,26.70,26.78,8.50,24.87
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$GC,165537,1.31,305.9,3549,2232,839,630,29.1,5.2,3461,165542,0.00,2.20,0.00,0.000,516,0.000,0.062,3560,687,734,838,631,0,0,0,0,0,0,27.09,26.63,27.10,8.59,25.03
$GC,165610,1.37,305.9,3559,687,839,632,25.1,5.5,3468,165619,0.00,2.12,0.00,0.000,1030,0.000,0.052,3560,2238,735,839,632,0,0,0,0,0,0,26.81,26.76,26.83,8.60,24.12
$GC,165919,1.37,305.9,3559,2238,839,632,5.2,8.3,3499,165920,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2238,736,839,633,0,0,0,0,0,0,27.09,27.11,27.10,8.65,23.93
$STATE,165948,end climb,SURFACE_DEPTH_REACHED
$STATE,165948,begin surface coast
$FINISH,0.2,1.023231
$STATE,165980,end surface coast,CONTROL_FINISHED_OK
$STATE,165980,begin surface
$SM_CCo,166058,0.00,0.000,0,0,733,305.61
$SM_GC,0.37,8.90,0.08,0.00,0.089,0.137,0.000,146,2337,733,-9.31,-2.60,305.61,0,0,0,0,0,0,26.34,26.89,26.47
$IRIDIUM_FIX,3042.44,-6858.47,200819,070929
$TT8_MAMPS,0.021721,0.256158
$HUMID,24.08
$INTERNAL_PRESSURE,8.62216
$TCM_TEMP,26.90
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,5220.7,27.6
$24V_AH,19.15,54.156
$10V_AH,10.23,29.577
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.225,536.400,521.550,0.000,99.650,49.973,38.101,469.923,60.250,0.000,15.180,12168.823,143491.453,1221.783,9028.568,898.752,0.000,5740.562,0.000,7859.780,0.000,610.159,0.000
$DEVICE_MAMPS,322.790,136.565,4258.345,0.000,173.810,12.420,160.000,223.000,420.000,0.000,28.460,13.970,2.190,13.970,40.180,61.900,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2449.756,4644.747,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318896
$DATA_FILE_SIZE,238533,3505
$CAP_FILE_SIZE,866199,0
$CFSIZE,2047311872,2022113280
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10755.64,0x2139fa,0,24
$INTR,1,12136.96,0x2139f2,0,24
$CURRENT,0.055,165.76,1
$GPS,230819,103704,3033.312,-6919.044,29,0.9,31,-13.0,0.0,0.0,10,4.8